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This is very easy to do. First put the car on ramps so you can get under the car, unless you are very, very skinny. Next take off both cables from the battery. Then locate the starter that is beneath the car right behind the engine near the middle of the car. All you have to do is disconect the wire going to the starter that is for power and I think two bolts holding it in place. Once the bolts are removed pull the starter out slowly and move a little back and forth to wiggle it out if needed. Should come out pretty easy. To install just just repeat in reverse order.
The starter is mounted on the driver's side bottom of the engine.
Disconnect the negative battery cable.
Raise the vehicle and support it safely with jackstands.
Starter mounting-1986-89 RX-7
Disconnect the heavy battery cable from the terminal marked B on the starter solenoid (or magnetic switch on later models).
Disconnect the thinner ignition switch wire from the terminal marked S on the solenoid/magnetic switch.
On vehicles with automatic transmissions, remove the front starter motor bracket bolts and the bracket. Remove the two starter attaching bolts and remove the starter.
Support the starter by and hand and position it onto the flywheel housing. Install the two mounting bolts. On 1986-89 RX-7s, torque the bolts to 24-33 ft. lbs. (33-45 Nm). Install the front starter bracket, if removed.
Connect the starter wiring to the appropriate solenoid or switch terminals. On 1986-89 models, torque the B terminal (battery cable) nut to 8 ft. lbs. (11 Nm).
The Starter is most likely the problem. The solenoid in the Starter doesn't work so well when it's worn out and gets hot. That's why the solenoid works better when cold. Changing the Starter out should solve the problem.
It is part of a combined relay module located on the driver side kick panel. It has a 17 pin connector on the top portion. Search online and you can find the factory service manual for this car that will give you this and more info.